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- Converted from MPF to asyn.

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- Removed unused <driver>Setup() argument.
This commit is contained in:
Ron Sluiter
2004-07-16 19:26:11 +00:00
parent 9af158435a
commit 3640e4f7a8
3 changed files with 44 additions and 76 deletions
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motorApp/MicroMoSrc/MicroMoRegister.cc
+10 -15
View File
@@ -3,9 +3,9 @@ FILENAME... MicroMoRegister.cc
USAGE... Register MicroMo MVP 2001 B02 motor controller device driver shell
commands.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-03-16 15:15:37 $
Last Modified: $Date: 2004-07-16 19:25:09 $
*/
/*****************************************************************
@@ -33,32 +33,27 @@ extern "C"
// MicroMo Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Max. motor count", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// MicroMo Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"PortType: 0 = GPIB, 1 = RS232", iocshArgInt};
static const iocshArg configArg2 = {"MPF server location", iocshArgInt};
static const iocshArg configArg3 = {"MPF server task name", iocshArgString};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg * const MicroMoSetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const MicroMoConfigArgs[4] = {&configArg0, &configArg1,
&configArg2, &configArg3};
static const iocshArg * const MicroMoSetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const MicroMoConfigArgs[3] = {&configArg0, &configArg1};
static const iocshFuncDef setupMicroMo = {"MicroMoSetup", 3, MicroMoSetupArgs};
static const iocshFuncDef configMicroMo = {"MicroMoConfig", 4, MicroMoConfigArgs};
static const iocshFuncDef setupMicroMo = {"MicroMoSetup", 2, MicroMoSetupArgs};
static const iocshFuncDef configMicroMo = {"MicroMoConfig", 2, MicroMoConfigArgs};
static void setupMicroMoCallFunc(const iocshArgBuf *args)
{
MVP2001Setup(args[0].ival, args[1].ival, args[2].ival);
MVP2001Setup(args[0].ival, args[1].ival);
}
static void configMicroMoCallFunc(const iocshArgBuf *args)
{
MVP2001Config(args[0].ival, args[1].ival, args[2].ival, args[3].sval);
MVP2001Config(args[0].ival, args[1].sval);
}
motorApp/MicroMoSrc/drvMVP2001.cc
+22 -49
View File
@@ -3,9 +3,9 @@ FILENAME... drvMVP2001.cc
USAGE... Motor record driver level support for MicroMo
MVP 2001 B02 (Linear, RS-485).
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-03-03 20:02:57 $
Last Modified: $Date: 2004-07-16 19:26:11 $
*/
/*
@@ -76,6 +76,7 @@ Last Modified: $Date: 2004-03-03 20:02:57 $
* if the controller was power-cycled.
* .04 02/06/04 rls Eliminate erroneous "Motor motion timeout ERROR".
* .05 02/13/04 rls port to R3.14.x
* .06 07/12/04 rls Converted from MPF to asyn.
*
*/
@@ -119,7 +120,6 @@ MORE DESIGN LIMITATIONS
#include <drvSup.h>
#include "motor.h"
#include "drvMVP2001.h"
#include "serialIO.h"
#include "epicsExport.h"
#define MVP2001_NUM_CARDS 8
@@ -205,24 +205,13 @@ static long report(int level)
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MVP2001 controller chain %d connection failed.\n", card);
printf(" MVP2001 controller chain #%d connection failed.\n", card);
else
{
struct MVPcontroller *cntrl;
cntrl = (struct MVPcontroller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" MVP2001 controller chain %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" MVP2001 controller chain %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
printf(" MVP2001 controller chain #%d, port=%s, id: %s \n", card,
cntrl->asyn_port, brdptr->ident);
}
}
}
@@ -482,8 +471,8 @@ static RTN_STATUS send_mess(int card, char const *com, char inchar)
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct MVPcontroller *) motor_state[card]->DevicePrivate;
cntrl->serialInfo->serialIOSend(local_buff, strlen(local_buff), SERIAL_TIMEOUT);
pasynSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT);
return(OK);
}
@@ -497,6 +486,7 @@ static int recv_mess(int card, char *com, int flag)
struct MVPcontroller *cntrl;
char temp[BUFF_SIZE];
int timeout;
int flush = 0;
int len=0, lenTemp=0;
/* Check that card exists */
@@ -508,10 +498,12 @@ static int recv_mess(int card, char *com, int flag)
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
timeout = COMM_TIMEOUT;
lenTemp = cntrl->serialInfo->serialIORecv(temp, BUFF_SIZE, (char *) "\n", timeout);
len = cntrl->serialInfo->serialIORecv(com, BUFF_SIZE, (char *) "\n", timeout);
len = pasynSyncIO->read(cntrl->pasynUser, temp, BUFF_SIZE, (char *) "\n",
1, flush, timeout);
len = pasynSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\n",
1, flush, timeout);
Debug(5, "bytes: 1st call: %d\t2nd call: %d\n", lenTemp, len);
@@ -531,7 +523,6 @@ static int recv_mess(int card, char *com, int flag)
/*****************************************************/
RTN_STATUS
MVP2001Setup(int num_cards, /* number of CHAINS of controllers */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate (Min=1Hz, max=60Hz) */
{
if (num_cards < 1 || num_cards > MVP2001_NUM_CARDS)
@@ -567,10 +558,8 @@ MVP2001Setup(int num_cards, /* number of CHAINS of controllers */
* MVP2001Config() *
********************************************************/
RTN_STATUS
MVP2001Config(int card, /* CHAIN being configured */
int port_type, /* 1:RS232_PORT */
int location, /* MPF server location */
const char *name) /* MPF server task name */
MVP2001Config(int card, /* CHAIN being configured */
const char *name) /* asyn server task name */
{
struct MVPcontroller *cntrl;
@@ -581,20 +570,7 @@ MVP2001Config(int card, /* CHAIN being configured */
motor_state[card]->DevicePrivate = calloc(1, sizeof(struct MVPcontroller));
cntrl = (struct MVPcontroller *) motor_state[card]->DevicePrivate;
switch (port_type)
{
case GPIB_PORT:
/* GPIB not possible with MVP2001 */
break;
case RS232_PORT:
cntrl->port_type = port_type;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
break;
/* DeviceNet not yet implemented */
default:
return (ERROR);
}
strcpy(cntrl->asyn_port, name);
return(OK);
}
@@ -611,7 +587,7 @@ static int motor_init()
char buff[BUFF_SIZE], limitStr[BUFF_SIZE];
int total_axis = 0;
int status;
bool success_rtn;
asynStatus success_rtn;
buff[0] = limitStr[0] = '\0';
@@ -633,11 +609,9 @@ static int motor_init()
cntrl = (struct MVPcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = false;
cntrl->serialInfo = new serialIO(cntrl->serial_card,
cntrl->serial_task, &success_rtn);
success_rtn = pasynSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
if (success_rtn == false)
if (success_rtn == asynSuccess)
{
/* Send a message to the board, see if it exists */
for (total_axis = 0; total_axis < MAX_AXIS; total_axis++)
@@ -654,11 +628,10 @@ static int motor_init()
break;
}
brdptr->total_axis = total_axis;
Debug(5, "brdptr->total_axis (number of controllers on chain %d) = %d\n",
card_index, brdptr->total_axis);
Debug(5, "brdptr->total_axis (number of controllers on chain %d) = %d\n", card_index, brdptr->total_axis);
}
if (success_rtn == false && total_axis > 0)
if (success_rtn == asynSuccess && total_axis > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
motorApp/MicroMoSrc/drvMVP2001.h
+12 -12
View File
@@ -3,9 +3,9 @@ FILENAME... drvMVP2001.h
USAGE... This file contains driver "include" information that is specific to
the MicroMo MVP 2001 B02 (Linear, RS-485).
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-03-16 15:14:55 $
Last Modified: $Date: 2004-07-16 19:25:33 $
*/
/*
@@ -67,6 +67,7 @@ Last Modified: $Date: 2004-03-16 15:14:55 $
* -----------------
* .01 08/27/2002 kmp copied from drvIM483.h (rev 1.1, mod .01) and
* customized for the MVP2001.
* .02 07/12/2004 rls Converted from MPF to asyn.
*
*/
@@ -75,20 +76,19 @@ Last Modified: $Date: 2004-03-16 15:14:55 $
#include "motor.h"
#include "motordrvCom.h"
#include "serialIO.h"
#include "asynDriver.h"
#include "asynSyncIO.h"
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
#define COMM_TIMEOUT 2 /* Command timeout in seconds. */
/* MVP2001 (chain) specific data is stored in this structure. */
struct MVPcontroller
{
int port_type; /* GPIB_PORT or RS232_PORT */
serialIO *serialInfo; /* For RS-232 */
int serial_card; /* Card on which Hideos is running */
char serial_task[20]; /* Hideos task name for serial port */
int maxCurrent[MAX_AXIS]; /* Maximum current (in mA) */
int encoderCpr[MAX_AXIS]; /* Encoder counts per revolution */
asynUser *pasynUser; /* For RS-232 */
char asyn_port[80]; /* asyn port name */
int maxCurrent[MAX_AXIS]; /* Maximum current (in mA) */
int encoderCpr[MAX_AXIS]; /* Encoder counts per revolution */
CommStatus status; /* Controller communication status. */
};
@@ -118,8 +118,8 @@ typedef union
} MOTOR_STATUS;
/* Function prototypes. */
extern RTN_STATUS MVP2001Setup(int, int, int);
extern RTN_STATUS MVP2001Config(int, int, int, const char *);
extern RTN_STATUS MVP2001Setup(int, int);
extern RTN_STATUS MVP2001Config(int, const char *);
#endif /* INCdrvMVP2001h */